Universal instrument guide for robotic surgical systems, surgical instrument systems, and methods of their use

Abstract

Described herein are systems and apparatus of surgical instruments engineered for integration with robotic surgical systems to enhance precision in surgical procedures. Also described herein are methods of using such surgical instruments in performing surgical procedures. The use of such surgical instruments reduce complications arising from misalignment during surgery. The disclosed technology assists in stages of a surgical procedure that require a precise trajectory to be followed. Surgical instrument guides are attached to a universal surgical instrument guide, which is engineered to attach directly or indirectly with a robotic arm of a robotic surgical system. Surgical instruments can then be precisely guided along an axis defined by the universal surgical instrument guide. Individual instruments are easily inserted and removed from the channel of the universal surgical instrument guide, thus allowing a range of instruments to be used throughout a procedure while maintaining the surgical trajectory.

What is claimed is: 
     
       1. A method of using a robotic surgical system, the method comprising the steps of:
 moving a mobile cart transporting a robotic surgical system comprising a robotic arm in 
 
       proximity to an operating table, wherein
 the robotic arm has an end effector comprising a universal surgical instrument guide attached thereto, the universal surgical instrument guide arranged to securely hold a surgical instrument and restrict movement of surgical tool therethrough, wherein the universal surgical instrument guide comprises: 
 a body comprising: a first channel having an interior surface shaped and sized to accommodate a portion of a surgical instrument, and a second channel, 
 a navigational marker is attached to the universal surgical instrument guide for use by a navigation camera to track the position of the surgical instrument guide; 
 stabilizing the mobile cart; 
 inserting the surgical instrument into the universal surgical instrument guide, 
 maneuvering the robotic arm to a desired position to align the axis defined by the first channel of the universal surgical instrument guide at a desired trajectory in relation to the surgical site; 
 limiting movement of the robotic arm to only along the axis defined by the interior surface of the first channel; and 
 temporarily fixing the position of the robotic arm 
 wherein the surgical instrument is a drill guide, 
 comprising the step of: inserting a drill bit through the guide shaft of the drill guide to direct the drill bit to the surgical site, wherein the drill bit is an anti-skiving drill bit, and 
 comprising the steps of: removing the drill bit from the guiding shaft of the drill guide; and inserting a k-wire through the guiding shaft of the drill guide. 
 
     
     
       2. The method of  claim 1 , comprising the steps of:
 inserting a surgical tool through the surgical instrument; and maneuvering the surgical tool in a manner that is constrained by the surgical instrument. 
 
     
     
       3. The method of  claim 1 , wherein the robotic arm is active and non-backdrivable. 
     
     
       4. The method of  claim 1 , wherein the robotic surgical system comprises a force sensor attached to the robotic arm capable of providing haptic feedback to a user. 
     
     
       5. The method of  claim 4 , wherein the robotic surgical system provides haptic feedback when the surgical instrument guide contacts bone. 
     
     
       6. The method of  claim 1 , comprising the steps of: removing the drill bit from the guiding shaft of the drill guide; removing the drill guide from universal surgical instrument guide;
 inserting a master guide into the first channel of the universal surgical instrument guide; and 
 releasably securing the master guide to the universal surgical instrument guide by threading the master guide such that the threads of the portion of the first channel engage with threads on an exterior surface of the master guide.